A recursive multibody model of a tracked vehicle and its interaction with flexible ground

Ray P.S. Han , Brian S. Sander , S.G. Mao(U.S.A.)

Abstract

A high-fidelity model of a tracked vehicle traversing a flexible ground terrain with a varyingprofile is presented here. In this work, we employed a recursive formulation to model the tracksubsystem. This method yields a minimal set of coordinates and hence, computationally more efficientthan conventional approaches. Also, in the vehicle subsystem, the undercarriage frame is assumed to beconnected to the chassis by a revolute joint and a spring-damper unit. This increase in system mobilitymakes the model more realistic. To capture the vehicle-ground interaction, a Winkler-type foundation withsprings-dampers is used. Simulation runs of the integrated tracked vehicle system for vibrations for fourvarying ground profiles are provided.

Key Words

tracked vehicles; multibody dynamic models; flexible ground terrain; varying ground profile.

Address

Ray P. S. Han, Department of Mechanical Engineering, The University of Iowa, Iowa City, IA 52242, USABrian S. Sander, Henderson Engineers Incorporated, Lenexa, KS 66214, USAS.G. Mao, Department of Mechanical Engineering, The University of Iowa, Iowa City, IA 52242, USA

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